Vehicle periphery display device

ABSTRACT

A vehicle periphery display device includes: an image acquisition unit that acquires a captured image from an imaging unit that images a periphery of a vehicle; and a control unit that causes a display unit to display a three-dimensional image representing the vehicle and a periphery of the vehicle based on the captured image, from a viewpoint which is located on a side opposite to a candidate of a target parking position with respect to a position of the vehicle and which faces a far side of the candidate of the target parking position, in a case where the target parking position for parking the vehicle is set.

CROSS REFERENCE TO RELATED APPLICATIONS

This application is based on and claims priority under 35 U.S.C. § 119to Japanese Patent Application 2018-167376, filed on Sep. 6, 2018, theentire contents of which are incorporated herein by reference.

TECHNICAL FIELD

An embodiment of this disclosure relates to a vehicle periphery displaydevice.

BACKGROUND DISCUSSION

A technology is developed that provides a driver with a situation of aperiphery of a vehicle by displaying, on a display unit, athree-dimensional image of the vehicle and the periphery of the vehicle,in a case where a target parking position for parking the vehicle isset.

Examples of related art include Japanese Patent No. 5872517, JapanesePatent No. 3300334, and Japanese Patent No. 5321267.

However, in the technology that displays, on the display unit, athree-dimensional image of the vehicle and the periphery of the vehicle,the far side of the target parking position is not included in thethree-dimensional image, and thus it is not possible to sufficientlyprovide the driver with a situation of the target parking position andit may be difficult for the driver of the vehicle to set the targetparking position in some cases.

Thus, a need exists for a vehicle periphery display device which is notsusceptible to the drawback mentioned above.

SUMMARY

A vehicle periphery display device according to an aspect of thisdisclosure includes, as an example, an image acquisition unit thatacquires a captured image from an imaging unit that images a peripheryof a vehicle; and a control unit that causes a display unit to display athree-dimensional image representing the vehicle and a periphery of thevehicle based on the captured image, from a viewpoint which is locatedon a side opposite to a candidate of a target parking position withrespect to a position of the vehicle and which faces a far side of thecandidate of the target parking position, in a case where the targetparking position for parking the vehicle is set.

BRIEF DESCRIPTION OF THE DRAWINGS

The foregoing and additional features and characteristics of thisdisclosure will become more apparent from the following detaileddescription considered with the reference to the accompanying drawings,wherein:

FIG. 1 is a perspective view illustrating an example of a state in whicha part of a cabin of a vehicle equipped with a vehicle periphery displaydevice according to this embodiment is seen through;

FIG. 2 is a plan view of an example of the vehicle according to thisembodiment;

FIG. 3 is a block diagram illustrating an example of a functionalconfiguration of the vehicle according to this embodiment;

FIG. 4 is a block diagram illustrating an example of a functionalconfiguration of an ECU included in the vehicle according to thisembodiment;

FIG. 5 is a view for explaining an example of display processing adisplay screen by the vehicle according to this embodiment;

FIG. 6 is a view for explaining an example of display processing adisplay screen by the vehicle according to this embodiment;

FIG. 7 is a view for explaining an example of display processing adisplay screen at the time of setting a target parking position by thevehicle according to this embodiment;

FIG. 8 is a view for explaining an example of display processing athree-dimensional image at the time of setting the target parkingposition by the vehicle according to this embodiment;

FIG. 9 is a view for explaining an example of display processing athree-dimensional image at the time of setting the target parkingposition by the vehicle according to this embodiment;

FIG. 10 is a view for explaining an example of display processing abird's-eye view image at the start of an automatic parking control bythe vehicle according to this embodiment;

FIG. 11 is a view for explaining an example of display processing abird's-eye view image at the start of the automatic parking control bythe vehicle according to this embodiment;

FIG. 12 is a view for explaining an example of display processing athree-dimensional image during executing the automatic parking controlby the vehicle according to this embodiment;

FIG. 13 is a view for explaining another example of display processing athree-dimensional image by the vehicle according to this embodiment;

FIG. 14 is a view for explaining an example of generation processing athree-dimensional image; and

FIG. 15 is a view for explaining an example of generation processing athree-dimensional image by the vehicle according to this embodiment.

DETAILED DESCRIPTION

Hereinafter, an exemplary embodiment of this disclosure will bedisclosed. A configuration of the embodiment, and an actions, a result,and an effect caused by the configuration, described below are justexamples. This disclosure can be realized by a configuration other thanthe configuration disclosed in the following embodiment, and at leastone from among various effects based on a basic configuration andderived effects can be obtained.

A vehicle on which a vehicle periphery display device according to thisembodiment is mounted may be an automobile (an internal combustionengine automobile) driven by an internal combustion engine, or anautomobile (an electric automobile, a fuel cell automobile, or the like)driven by an electric motor, or an automobile (a hybrid automobile)driven by both the internal combustion engine and the electric motor. Inaddition, the vehicle can be equipped with various transmission devices,and various devices (a system, a part, and the like) necessary fordriving the internal combustion engine and the electric motor. Inaddition, types, the number, a layout, or the like of the devicesrelated to driving wheels in the vehicle can be variously set.

FIG. 1 is a perspective view illustrating an example of a state in whicha part of a cabin of a vehicle equipped with a vehicle periphery displaydevice according to this embodiment is seen through. As illustrated inFIG. 1, a vehicle 1 includes a vehicle body 2, a steering unit 4, anacceleration operation unit 5, a braking operation unit 6, atransmission shift operation unit 7, and a monitor device 11. Thevehicle body 2 includes a cabin 2 a in which an occupant is on board. Inthe cabin 2 a, the steering unit 4, the acceleration operation unit 5,the braking operation unit 6, the transmission shift operation unit 7,and the like are provided in a state where a driver is seated on a seat2 b as the occupant. The steering unit 4 is, for example, a steeringwheel protruding from a dashboard 24. The acceleration operation unit 5is, for example, an accelerator pedal positioned under driver's feet.The braking operation unit 6 is, for example, a brake pedal positionedunder the driver's feet. The transmission shift operation unit 7 is, forexample, a shift lever protruding from a center console.

The monitor device 11 is provided, for example, at the center portion ofthe dashboard 24 in a vehicle width direction (that is, a lateraldirection). The monitor device 11 may have, for example, a function of anavigation system, an audio system, or the like. The monitor device 11includes a display device 8, an audio output device 9, and an operationinput unit 10. The monitor device 11 may include various operation inputunits such as a switch, a dial, a joystick, and a pushbutton.

The display device 8 is configured to include a liquid crystal display(LCD), an organic electroluminescent display (OELD) and the like, andcan display various images based on image data. The audio output device9 is configured to include a speaker or the like, and outputs variousaudios based on audio data. The audio output device 9 may be provided ata position in the cabin 2 a different from that of the monitor device11.

The operation input unit 10 is configured to include a touch panel orthe like, and makes it possible for the occupant to input variousinformation items. In addition, the operation input unit 10 is providedon a display screen of the display device 8 and can transmit the imageto be displayed on the display device 8. In this way, the operationinput unit 10 makes it possible for the occupant to visually recognizethe image displayed on the display screen of the display device 8. Theoperation input unit 10 receives an input of the various informationitems from the occupant by detecting a touch operation of the occupanton the display screen of the display device 8.

FIG. 2 is a plan view of an example of the vehicle according to thisembodiment. As illustrated in FIGS. 1 and 2, the vehicle 1 is afour-wheeled vehicle or the like, and includes two left and right frontwheels 3F and two left and right rear wheels 3R. All or a part of fourwheels 3 can be steered.

The vehicle 1 is equipped with a plurality of imaging units 15 (anin-vehicle camera). In this embodiment, the vehicle 1 is equipped with,for example, four imaging units 15 a to 15 d. The imaging unit 15 is adigital camera including an image capturing device such as a chargecoupled device (CCD) or a CMOS image sensor (CIS). The imaging unit 15can image surroundings of the vehicle 1 at a predetermined frame rate.Then, the imaging unit 15 outputs a captured image obtained by imagingthe surroundings of the vehicle 1. Each imaging unit 15 includes awide-angle lens or a fish-eye lens and can capture an image, forexample, in a range of 140° to 220° in the horizontal direction. Inaddition, in some cases, an optical axis of the imaging unit 15 may beset obliquely downward.

Specifically, the imaging unit 15 a is positioned, for example, at anend portion 2 e on a rear side of the vehicle body 2, and is provided ona wall portion of a rear hatch door 2 h below a rear window. The imagingunit 15 a can image an area behind the vehicle 1 among the surroundingsof the vehicle 1. The imaging unit 15 b is positioned, for example, atan end portion 2 f on a right side of the vehicle body 2, and isprovided on a right side door mirror 2 g. The imaging unit 15 b canimage an area on a side of the vehicle 1 among the surroundings of thevehicle. The imaging unit 15 c is positioned, for example, at an endportion 2 c on a front side of the vehicle body 2, that is, on a frontside of the vehicle 1 in a longitudinal direction, and is provided on afront bumper, a front grill, or the like. The imaging unit 15 c canimage an area in front of the vehicle 1 among the surroundings of thevehicle 1. The imaging unit 15 d is positioned, for example, at the endportion 2 d on a left side of the vehicle body 2, that is, on a leftside of the vehicle in the vehicle width direction, and is provided on aleft side door mirror 2 g. The imaging unit 15 d can image an area onthe side of the vehicle 1 among the surroundings of the vehicle 1.

In addition, the vehicle 1 includes a radar 16 capable of measuring adistance to an object present outside the vehicle 1. The radar 16 is amillimeter wave radar or the like, and can measure a distance to anobject present in a traveling direction of the vehicle 1. In thisembodiment, the vehicle 1 includes a plurality of the radars 16 a to 16d. The radar 16 c is provided at an end portion on a right side of thefront bumper of the vehicle 1 and can measure a distance to an objectpresent in front of a right side of the vehicle 1. In addition, theradar 16 d is provided at an end portion on a left side of the frontbumper of the vehicle 1 and can measure a distance to an object presentin front of the left side of the vehicle 1. The radar 16 b is providedat an end portion on a right side of a rear bumper of the vehicle 1 andcan measure a distance to an object present behind the right side of thevehicle 1. In addition, the radar 16 a is provided at an end portion ona left side of the rear bumper of the vehicle 1 and can measure adistance to an object present behind the left side of the vehicle 1.

In addition, the vehicle 1 includes a sonar 17 capable of measuring adistance to an external object present at a short distance from thevehicle 1. In this embodiment, the vehicle 1 includes a plurality of thesonars 17 a to 17 h. The sonars 17 e to 17 h are provided at the frontbumper of the vehicle 1, and can measure a distance to an object presentin front of the vehicle. The sonars 17 a to 17 d are provided at therear bumper of the vehicle 1, and can measure a distance to an objectpresent behind the vehicle 1.

FIG. 3 is a block diagram illustrating an example of a functionalconfiguration of the vehicle according to this embodiment. Asillustrated in FIG. 3, the vehicle 1 includes a steering system 13, abrake system 18, a steering angle sensor 19, an accelerator sensor 20, ashift sensor 21, a wheel speed sensor 22, a global positioning system(GPS) receiver 25, an in-vehicle network 23, and an electronic controlunit (ECU) 14. The monitor device 11, the steering system 13, the radar16, the sonar 17, the brake system 18, the steering angle sensor 19, theaccelerator sensor 20, the shift sensor 21, the wheel speed sensor 22,the GPS receiver 25, and the ECU 14 are electrically connected to oneanother via the in-vehicle network 23 which is a telecommunication line.The in-vehicle network 23 is configured with a controller area network(CAN) or the like.

The steering system 13 is an electric power steering system, a steer bywire (SBW) system, or the like. The steering system 13 includes anactuator 13 a and a torque sensor 13 b. The steering system 13 iselectrically controlled by the ECU 14 or the like, operates the actuator13 a, and steers the wheels 3 by adding torque to the steering unit 4 tosupplement the steering force. The torque sensor 13 b detects the torqueapplied by a driver to the steering unit 4, and transmits the result ofdetection to the ECU 14.

The brake system 18 includes an anti-lock brake system (ABS) thatcontrols brake lock of the vehicle 1, a side slip prevention device(electronic stability control (ESC)) that suppresses side slip of thevehicle 1 during cornering, an electric brake system that assists abrake by increasing a brake force, and a brake by wire (BBW). The brakesystem 18 includes an actuator 18 a and a brake sensor 18 b. The brakesystem 18 is electrically controlled by the ECU 14 or the like, andapplies the brake force to the wheels 3 via the actuator 18 a. The brakesystem 18 detects the brake lock, an idling of the wheels 3, signs ofside slip, or the like from a difference in rotation between the leftand right wheels 3, or the like, and then, performs a control tosuppress the brake lock, the idling of the wheels 3, and the side slip.The brake sensor 18 b is a displacement sensor that detects a positionof the brake pedal as a movable unit of the braking operation unit 6,and transmits the detection result of the position of the brake pedal tothe ECU 14.

The steering angle sensor 19 is a sensor that detects a steering amountof the steering unit 4 such as a steering wheel. In this embodiment, thesteering angle sensor 19 is configured with a Hall element or the like,detects, as a steering amount, a rotation angle (a steering angle) of arotating portion of the steering unit 4 and then, transmits thedetection result to the ECU 14. The accelerator sensor 20 is adisplacement sensor that detects a position of the accelerator pedal asa movable unit of the acceleration operation unit 5, and transmits thedetection result to the ECU 14. The GPS receiver 25 acquires a currentposition of the vehicle 1 based on a radio wave received from anartificial satellite.

The shift sensor 21 is a sensor that detects the position of the movableunit (a bar, an arm, a button, and the like) of the transmission shiftoperation unit 7, and transmits the detection result to the ECU 14. Thewheel speed sensor 22 is a sensor that includes a Hall element or thelike and detects a rotation amount of the wheels 3 and the number ofrotations of the wheels 3 per a unit time, and transmits the detectionresult to the ECU 14.

The ECU 14 is configured with a computer or the like, and causescooperation between hardware and software to perform overall managementof controlling the vehicle 1. Specifically, the ECU 14 includes acentral processing unit (CPU) 14 a, a read only memory (ROM) 14 b, arandom access memory (RAM) 14 c, a display control unit 14 d, an audiocontrol unit 14 e, and a solid state drive (SSD) 14 f. The CPU 14 a, theROM 14 b, and the RAM 14 c may be provided on the same circuit board.

The CPU 14 a reads a program stored in a nonvolatile storage device suchas the ROM 14 b and performs various arithmetic processing itemsaccording to the program. For example, the CPU 14 a performs imageprocessing the image data to be displayed on the display device 8,control of traveling of the vehicle 1 according to a target route to atarget position such as a parking position, and the like.

The ROM 14 b stores various programs, parameters necessary for executingthe programs, and the like. The RAM 14 c temporarily stores various dataitems used in arithmetic performed by the CPU 14 a. The display controlunit 14 d mainly performs, among the arithmetic processing itemsperformed by the ECU 14, the image processing on the image data which isacquired from the imaging unit 15 and is output to the CPU 14 a,conversion of the image data acquired from the CPU 14 a into the imagedata for display to be displayed on the display device 8, and the like.The audio control unit 14 e mainly performs, among the arithmeticprocessing items performed by the ECU 14, audio processing for acquiringthe audio from the CPU 14 a and outputting the audio to the audio outputdevice 9. The SSD 14 f is a rewritable nonvolatile storage unit, andcontinues to store the data acquired from the CPU 14 a even in a casewhere a power source of the ECU 14 is turned off.

FIG. 4 is a block diagram illustrating an example of a functionalconfiguration of the ECU included in the vehicle according to thisembodiment. As illustrated in FIG. 4, the ECU 14 includes an imageacquisition unit 400, a setting unit 401, a detection unit 402, and acontrol unit 403. For example, the ECU 14 performs the functions of theimage acquisition unit 400, the setting unit 401, the detection unit402, and the control unit 403, by executing a vehicle periphery displayprogram stored in a storage medium such as the ROM 14 b or the SSD 14 fusing a processor such as the CPU 14 a mounted on the circuit board. Apart or all of the image acquisition unit 400, the setting unit 401, thedetection unit 402, and the control unit 403 may be configured withhardware such as a circuit.

The image acquisition unit 400 acquires a captured image obtained byimaging the periphery of the vehicle 1 using the imaging unit 15. Thesetting unit 401 sets a target parking position and a viewpoint of athree-dimensional image based on the captured image acquired by theimage acquisition unit 400 according to a user's operation via theoperation input unit 10 or the like. Herein, the three-dimensional imageis a three-dimensional image of the vehicle 1 and the periphery of thevehicle 1. In this embodiment, the setting unit 401 sets a viewpointwhich is located on a side opposite to a candidate of the target parkingposition with respect to a position of the vehicle 1 and which faces thefar side of the target parking position as the viewpoint of thethree-dimensional image.

Herein, the target parking position is a position where the vehicle 1 isparked. Specifically, the setting unit 401 sets a viewpoint moved bypanning or tilting according to the user's operation as a viewpoint ofthe three-dimensional image. Then, the setting unit 401 stores the setviewpoint in a memory such as the RAM 14 c.

The detection unit 402 detects an object approaching the vehicle 1 orthe target parking position. In this embodiment, the detection unit 402detects the object approaching the vehicle 1 or the target parkingposition, based on the captured image acquired by the image acquisitionunit 400, the distance measured by the radar 16 (the distance betweenthe vehicle 1 and the object present at the surroundings of the vehicle1), and the like.

For example, the detection unit 402 detects the object approaching thevehicle 1 or the target parking position by image processing (forexample, optical flow) on the captured image acquired by the imageacquisition unit 400. Alternatively, the detection unit 402 detects theobject approaching the vehicle 1 or the target parking position, basedon a change in the distance measured by the radar 16.

In this embodiment, the detection unit 402 detects the objectapproaching the vehicle 1 based on the captured image acquired by theimage acquisition unit 400 or the measurement result of the distance bythe radar 16. In a case of detecting an object present at a relativelyshort distance from the vehicle 1, it is also possible to detect theobject approaching the vehicle 1 based on the measurement result of thedistance by the sonar 17.

The control unit 403 displays, on the display device 8, a display screenon which a situation of a periphery of the vehicle 1 can be visuallyrecognized.

First, display processing the display screen by the control unit 403 ina case where parking of the vehicle 1 is not performed at the targetparking position is described.

In a case where the parking of the vehicle 1 is not performed at thetarget parking position, the control unit 403 causes the display device8 to display a display screen including a bird's-eye view image of thevehicle 1 and the periphery thereof, and a captured image obtained bycapturing an image in a traveling direction of the vehicle 1 using theimaging unit 15 among the captured image acquired by the imageacquisition unit 400. Herein, the bird's-eye view image is an image ofan entirety of the vehicle 1 and the periphery thereof viewed from aviewpoint immediately above the vehicle 1. In addition, the bird's-eyeview image is an image of a part of the vehicle 1 such as a side surfaceof the vehicle 1 (or the entirety of the vehicle 1) and the peripherythereof viewed from a viewpoint immediately above the vehicle 1.

In this embodiment, the control unit 403 generates an image of theperiphery of the vehicle 1 from a viewpoint immediately above thevehicle 1 based on the captured image acquired by the image acquisitionunit 400. Next, the control unit 403 includes, in the display screen, animage obtained by superimposing the image in which the vehicle 1 isviewed from a viewpoint immediately above the vehicle on the generatedimage (for example, an image in a bitmap format, an image showing athree-dimensional shape of the vehicle 1 displayed by a plurality ofpolygons), as the bird's-eye view image.

Next, display processing the display screen by the control unit 403 in acase of setting the target parking position is described.

In a case of setting the target parking position, the control unit 403causes the display device 8 to display a display screen including athree-dimensional image of the vehicle 1 and the periphery thereof. Inother words, in a case of setting the target parking position, thecontrol unit 403 causes the display device 8 to display a display screenincluding a vehicle image showing the vehicle 1 and a three-dimensionalimage representing the periphery of the vehicle 1. Herein, thethree-dimensional image is a three-dimensional image in which thevehicle 1 and the periphery thereof are viewed from a viewpoint which islocated on a side opposite side to the candidate of the target parkingposition with respect to the position of the vehicle 1 and which facesthe far side of the target parking position. In this way, in a case ofsetting the target parking position, it is possible to display, on thedisplay device 8, a three-dimensional image viewed from a viewpointwhere an entirety of the candidate of the target parking position can bevisually recognized, and thus the driver of the vehicle 1 can easily setthe target parking position.

In this embodiment, the control unit 403 causes the display device 8 todisplay a display screen including a three-dimensional image instead ofthe captured image included in the display screen before setting thetarget parking position. That is, when the target parking position isset, the control unit 403 causes the display device 8 to display adisplay screen including a bird's-eye view image and a three-dimensionalimage.

In this embodiment, the control unit 403 reads a viewpoint set inadvance by the setting unit 401 from a memory such as the RAM 14 c.Then, the control unit 403 causes the display device 8 to display athree-dimensional image in which the vehicle 1 and the periphery thereofare viewed from the viewpoint set in advance by the setting unit 401. Inthis way, when the target parking position is set, a three-dimensionalimage of the vehicle 1 and the periphery thereof viewed from a user'sfavorite viewpoint is displayed without performing an operation tochange a viewpoint from which the vehicle 1 and the periphery thereofare viewed, and thus it is possible to easily check a situation of aperiphery of the target parking position from the user's favoriteviewpoint.

In addition, when the three-dimensional image is displayed on thedisplay device 8, the control unit 403 causes the display device 8 todisplay the three-dimensional image with an entirety of thethree-dimensional image rotated such that a front of the vehicle 1 inthe three-dimensional image is directed upward. In this way, it ispossible to display, on the display device 8, a three-dimensional imagein which a traveling state of the vehicle 1 is reflected withoutchanging a viewing direction of the candidate of the target parkingposition and the object in the periphery thereof in thethree-dimensional image, and thus it is possible to easily grasp apositional relationship between the vehicle 1 and the object in theperiphery thereof from the three-dimensional image displayed on thedisplay device 8.

In this embodiment, the control unit 403 determines a rotation angle forrotating the entirety of the three-dimensional image based on a steeringangle of the steering unit 4 detected by the steering angle sensor 19.Then, the control unit 403 rotates the entirety of the three-dimensionalimage according to the determined rotation angle to display the image onthe display device 8.

Specifically, the control unit 403 determines the steering angledetected by the steering angle sensor 19 as the rotation angle. Next,the control unit 403 causes the display device 8 to display athree-dimensional image obtained by rotating the entirety of thethree-dimensional image by the determined rotation angle in a directionopposite to a direction in which the steering unit 4 is steered. In thisway, regardless of a change in the traveling direction of the vehicle 1,the front of the vehicle 1 in the three-dimensional image displayed onthe display device 8 can be directed upward, and thus it is possible todisplay, on the display device 8, a three-dimensional image in which thetraveling state of the vehicle 1 is reflected without changing theviewing direction of the candidate of the target parking position andthe object in the periphery thereof in the three-dimensional image.

In addition, in a case where the object approaching the vehicle 1 or thetarget parking position is detected by the detection unit 402, thecontrol unit 403 causes the display device 8 to display athree-dimensional image at a viewing angle including the detectedobject. In this way, when the target parking position is set, moreinformation on the vehicle 1 and the periphery of the target parkingposition can be provided to the driver of the vehicle 1.

For example, in a case of setting the target parking position, whenanother vehicle approaches from the rear of the vehicle 1, the controlunit 403 causes the display device 8 to display a three-dimensionalimage at the viewing angle including the other vehicle. At that time, itis preferable that the control unit 403 changes only the viewing angleof the three-dimensional image without changing the viewpoint of thethree-dimensional image. This makes possible to provide information onan entirety of the target parking position while causing the driver ofthe vehicle 1 to be aware of an object such as another vehicleapproaching the vehicle 1.

In this embodiment, in a case where the object detected by the detectionunit 402 is a moving object such as another vehicle approaching thevehicle 1, the control unit 403 changes the target parking position andthe position of the vehicle 1 in the three-dimensional image when theviewing angle of the three-dimensional image dynamically changesaccording to the change in the distance between the vehicle 1 and themoving object, which is troublesome. Therefore, in a case where theobject detected by the detection unit 402 is a moving object, thecontrol unit 403 changes the viewing angle of the three-dimensionalimage at each time set in advance.

Next, display processing the bird's-eye view image by the control unit403 in a case where an automatic parking control is started isdescribed. Herein, the automatic parking control is control processingfor parking the vehicle 1 at the target parking position by an automaticdriving.

In a case where setting the target parking position is completed and theautomatic parking control is started, the control unit 403 switches thebird's-eye view image included in the display screen to a bird's-eyeview image from a viewpoint facing the vehicle 1 in an obliquelybackward direction. In addition, in a case where the automatic parkingcontrol is started, the control unit 403 switches the three-dimensionalimage to the captured image obtained by capturing an image in thetraveling direction of the vehicle 1 using the imaging unit 15. That is,in a case where the automatic parking control is started, the controlunit 403 causes the display device 8 to display a display screenincluding a bird's-eye view image from a viewpoint facing the vehicle 1in an obliquely backward direction and the captured image.

When the target parking position is set, since it is necessary tostrictly grasp a sense of a distance between the vehicle 1 and theobject in the surroundings thereof, it is suitable to include, in thedisplay screen, a bird's-eye view image of the vehicle 1 and theperiphery thereof viewed from a viewpoint immediately above the vehicle1. On the other hand, when the automatic parking control is started, itis not necessary to strictly grasp the sense of a distance between thevehicle 1 and the object in the surroundings thereof.

Therefore, the control unit 403 switches the bird's-eye view imageincluded in the display screen to the bird's-eye view image from theviewpoint facing the vehicle 1 in the obliquely backward direction. Inthis way, the driver of the vehicle 1 can monitor the automatic parkingcontrol of the vehicle 1 using the bird's-eye view image with athree-dimensional effect. In addition, by switching to the bird's-eyeview image from the viewpoint facing the vehicle 1 in the obliquelybackward direction, it is possible to suppress distortion of athree-dimensional object included in the bird's-eye view image. In thisembodiment, when the automatic parking control is started, the controlunit 403 switches the bird's-eye view image included in the displayscreen to a bird's-eye view image from a viewpoint facing the vehicle 1in an obliquely backward direction.

In this embodiment, the control unit 403 switches the bird's-eye viewimage included in the display screen to a bird's-eye view image from aviewpoint which is inclined by a predetermined angle from the viewpointimmediately above the vehicle 1. Herein, the predetermined angle is anangle set in advance. In this embodiment, the predetermined angle is anangle input by operating the operation input unit 10 or the like, and isstored in a memory such as the RAM 14 c or the like. That is, a user canset a favorite predetermined angle. The control unit 403 switches thebird's-eye view image included in the display screen to a bird's-eyeview image from a viewpoint which is inclined by the predetermined anglestored in the memory. In this way, the bird's-eye view image from theuser's favorite viewpoint can be included in the display screen.

In addition, in case of manually parking the vehicle 1 at the targetparking position (in case of not parking the vehicle 1 at the targetparking position by the automatic parking control), it is possible forthe control unit 403 to keep the bird's-eye view image included in thedisplay screen as the bird's-eye view image in which the vehicle 1 andthe periphery thereof are viewed from a viewpoint immediately above thevehicle 1 even after setting the target parking position is completedand the parking of the vehicle 1 at the target parking position isstarted. In this way, based on the presence or absence of the switchingof the viewpoint of the bird's-eye view image included in the displayscreen, the driver of the vehicle 1 can easily recognize whether theparking of the vehicle 1 at the target parking position is performedmanually or by the automatic parking control.

Next, display processing a three-dimensional image by the control unit403 during execution of the automatic parking control is described.

After execution of the automatic parking control is started, the controlunit 403 switches the viewpoint of the three-dimensional image includedin the display screen depending on whether the vehicle 1 is movingforward or backward.

Specifically, in a case where the vehicle 1 is moving forward when thevehicle 1 is parked at the target parking position by the automaticparking control, the control unit 403 causes the display device 8 todisplay a display screen including a three-dimensional image from aviewpoint located behind the vehicle 1. On the other hand, in a casewhere the vehicle 1 is moving backward when the vehicle 1 is parked atthe target parking position by the automatic parking control, thecontrol unit 403 causes the display device 8 to display a display screenincluding a three-dimensional image from a viewpoint located in front ofthe vehicle 1.

In this way, the traveling direction of the vehicle 1 included in thethree-dimensional image can be directed upward in the display screen,and a three-dimensional image with less distortion can be displayed whenthe vehicle 1 is viewed from an oblique viewpoint. As a result, it ispossible to check a status that the vehicle 1 is parked at the targetparking position by the automatic parking control, with a feeling ofsecurity using a three-dimensional image having reality.

In case of parking the vehicle 1 at the target parking position by theautomatic parking control, the driver of the vehicle 1 does not steerthe steering unit 4, so that a possibility to feel discomfort is loweven if a left and a right of the three-dimensional image displayed onthe display screen does not match with a left and a right of the actualvehicle 1 (that is, even if the front of the vehicle 1 in thethree-dimensional image is not directed upward in the display screen).Therefore, in a case where the vehicle 1 is moving forward when thevehicle 1 is parked at the target parking position by the automaticparking control, the control unit 403 causes the display device 8 todisplay a display screen including a three-dimensional image from aviewpoint located behind the vehicle 1. On the other hand, in a casewhere the vehicle 1 is moving backward when the vehicle 1 is parked atthe target parking position by the automatic parking control, thecontrol unit causes the display device 8 to display a display screenincluding a three-dimensional image from a viewpoint located in front ofthe vehicle 1.

Accordingly, in case of manually parking the vehicle 1 at the targetparking position, the driver of the vehicle 1 steers the steering unit4, so that the left and the right of a horizontally reversedthree-dimensional image displayed on the display screen which isinstalled on a front side of the vehicle 1 matches with the left and theright of the actual vehicle 1. In addition, it is preferable that thetraveling direction of the vehicle 1 in the three-dimensional image isdirected upward in the display screen. Therefore, in case of manuallyparking the vehicle 1 at the target parking position, the control unit403 causes the display device 8 to display a display screen including athree-dimensional image from a viewpoint where the traveling directionof the vehicle 1 is directed upward in the display screen.

In addition, in a case where the parking of the vehicle 1 at the targetparking position by the automatic driving control is completed, thecontrol unit 403 rotates the viewpoint of the three-dimensional imageincluded in the display screen by 360 degrees with the position of thevehicle 1 as a center. In this embodiment, in a case where the vehicle 1is moved to the target parking position and the vehicle 1 is stopped bythe automatic driving control unit, the control unit 403 determines thatthe parking of the vehicle 1 at the target parking position iscompleted, and rotates the viewpoint of the three-dimensional imageincluded in the display screen by 360 degrees with a middle of a rearwheel shaft of the vehicle 1 as a center. In this way, it is possible tocheck the parking state of the vehicle 1 with respect to the targetparking position from various viewpoints at the surroundings of thevehicle 1.

Next, generation processing the three-dimensional image included in thedisplay screen by the control unit 403 is described.

The control unit 403 acquires a captured image obtained by imaging thesurroundings of the vehicle 1 using the imaging unit 15. Next, thecontrol unit 403 detects a target parking position included in theacquired captured image, and draws a frame of the target parkingposition on the captured image. Thereafter, the control unit 403generates an image in which the captured image in which a frame of thetarget parking position is drawn is mapped as a texture on a bowl-shapedor cylindrical three-dimensional surface, as a three-dimensional image.Then, the control unit 403 includes the generated three-dimensionalimage on the display screen.

In case of drawing the frame of the target parking position on thethree-dimensional image, the frame of the target parking position doesnot have coordinates in a height direction, and thus, disappears withoutbeing drawn on a rising section of the three-dimensional surface. Inother words, in a case of drawing the frame of the target parkingposition on the three-dimensional image, the frame of the target parkingposition does not have coordinates in a height direction, and thus, ishidden below the three-dimensional surface. Although it is possible todisplay the frame of the target parking position without being hiddenbelow the three-dimensional surface, in some cases, the frame isdisplayed at a position shifted from the target parking position in thecaptured image to be applied on the three-dimensional surface.

Although it is also possible to calculate three-dimensional coordinatesof the frame of the target parking position which is drawn on the risingsection of the three-dimensional surface, and to draw the frame of thetarget parking position at a position of the calculatedthree-dimensional coordinates on the three-dimensional surface, thethree-dimensional coordinates of the frame of the target parkingposition on the three-dimensional surface have to be calculated wheneverthe target parking position changes. In addition, although it ispossible to generate a lookup table of three-dimensional coordinates ofthe frame of the target parking position on the three-dimensionalsurface, it is necessary to generate the lookup table in advance.

Therefore, in this embodiment, the control unit 403 draws the frame ofthe target parking position on the captured image, and then, renders(applies) the captured image on which the frame of the target parkingposition is drawn on the three-dimensional surface. In this way, it ispossible to generate a three-dimensional image including the frame ofthe target parking position without calculating three-dimensionalcoordinates of the frame of the target parking position on thethree-dimensional surface or generating a lookup table, and thus, adisplay screen including a three-dimensional image including the frameof the target parking position can be easily displayed on the displaydevice 8.

Next, specific examples of a display screen displayed on the displaydevice 8 by the control unit 403 are described with reference to FIGS. 5to 15.

FIG. 5 is a view for explaining an example of display processing adisplay screen by the vehicle according to this embodiment. In thisembodiment, in a case where the parking of the vehicle 1 at the targetparking position is not performed (in other words, before setting thetarget parking position), the control unit 403 causes the display device8 to display a display screen G including a bird's-eye view image G1 ofthe entirety of the vehicle 1 and the periphery thereof, and a capturedimage G2 obtained by capturing an image in the traveling direction (forexample, the front) of the vehicle 1 using the imaging unit 15, as shownin FIG. 5.

Since the bird's-eye view image G1 shown in FIG. 5 does not include anentirety of a parking position 501 adjacent to the candidate 500 of thetarget parking position, it is not possible to check whether or notanother vehicle is parked at the parking position 501. In addition,since the bird's-eye view image G1 shown in FIG. 5 does not include theimage of the far side of the candidate 500 of the target parkingposition, it is difficult to accurately determine whether or not thevehicle 1 can be parked at the candidate 500 of the target parkingposition.

In addition, from the captured image G2 shown in FIG. 5, it is possibleto check that the other vehicle is parked at the parking position 501adjacent to the candidate 500 of the target parking position. However,since the captured image G2 does not include the candidate 500 of thetarget parking position, it is difficult to grasp the positionalrelationship between the parking position 501 and the candidate 500 ofthe target parking position (for example, whether or not the parkingposition 501 is adjacent to the candidate 500 of the target parkingposition).

FIG. 6 is a view for explaining an example of display processing adisplay screen by the vehicle according to this embodiment. In thisembodiment, in a case where the parking of the vehicle 1 at the targetparking position is not performed, the control unit 403 causes thedisplay device 8 to display a display screen G including a bird's-eyeview image G1 on the left side surface of the vehicle 1 and theperiphery thereof, a bird's-eye view image G1 on the right side of thevehicle 1 and the periphery thereof, and a captured image G2 obtained bycapturing an image in the traveling direction of the vehicle 1 using theimaging unit 15, as shown in FIG. 6. In this embodiment, the driver ofthe vehicle 1 can optionally switches, by operating the operation inputunit 10, which one of the bird's-eye view image G1 of the entirety ofthe vehicle 1 and the periphery thereof, and the bird's-eye view imageG1 of a part of the vehicle 1 (for example, the side) and the peripherythereof is included in the display screen G.

In the bird's-eye view image G1 shown in FIG. 6 (the bird's-eye viewimage on the left side of the vehicle 1 and the periphery thereof), thepositional relationship with an object located near a side of thevehicle 1 is grasped easily, but it is not possible to check theentirety of the candidate 500 of the target parking position and theparking position 501. In this way, in the bird's-eye view image G1 ofthe vehicle 1 and the periphery thereof and the captured image G2obtained by capturing an image in the traveling direction of the vehicle1, it is not possible to check the entirety of the candidate 500 of thetarget parking position and the periphery thereof (for example, theparking position 501). Accordingly, the bird's-eye view image G1 and thecaptured image G2 as shown in each of FIGS. 5 and 6 may not be suitablefor setting the target parking position.

FIG. 7 is a view for explaining an example of display processing adisplay screen at the time of setting a target parking position by thevehicle according to this embodiment. When setting the target parkingposition is instructed via the operation input unit 10 or the like, thecontrol unit 403 causes the display device 8 to display a display screenG including a bird's-eye view image G1 and a three-dimensional image G3,as shown in FIG. 7. In this embodiment, in case of setting the targetparking position, the control unit 403 causes the display device 8 todisplay the display screen G including the bird's-eye view image G1 andthe three-dimensional image G3, but it is sufficient that the controlunit causes the display device 8 to display the display screen Gincluding at least the three-dimensional image G3.

Herein, the three-dimensional image G3 is a three-dimensional image inwhich the vehicle 1 and the periphery thereof are viewed from theviewpoint which is located on a side opposite to the candidate 500 ofthe target parking position with respect to a position P of the vehicle1 (the right side of the vehicle 1 in the three-dimensional image G3shown in FIG. 7) and which faces the far side of the candidate 500 ofthe target parking position. In this way, in a case of setting thetarget parking position, it is possible to display, on the displaydevice 8, the three-dimensional image G3 viewed from a viewpoint wherethe entirety of the candidate 500 of the target parking position and asituation of the periphery thereof (for example, the parking position501) can be visually recognized.

As a result, it is possible to easily set the target parking position bythe driver of the vehicle 1. In addition, since it is not necessary towiden a viewing angle of the three-dimensional image G3 in order todisplay, on the display device 8, the three-dimensional image G3 inwhich the entirety of the candidate 500 of the target parking positioncan be recognized visually, distortion of the image of the vehicle 1 orthe like included in the three-dimensional image G3 due to enlargementof the viewing angle of the three-dimensional image G3 can besuppressed.

FIG. 8 is a view for explaining an example of display processing athree-dimensional image at the time of setting the target parkingposition by the vehicle according to this embodiment. In thisembodiment, in a case where an object approaching the vehicle 1 isdetected by the detection unit 402, the control unit 403 widens theviewing angle of the three-dimensional image G3, as shown in FIGS. 7 and8. In this way, when setting the target parking position, information onan object (for example, another vehicle or a pedestrian) present at aposition away from the vehicle 1 can be included in thethree-dimensional image G3, and thus, it is possible to park the vehicle1 at the target parking position with more safety.

FIG. 9 is a view for explaining an example of display processing athree-dimensional image at the time of setting the target parkingposition by the vehicle according to this embodiment. In thisembodiment, in a case where an object approaching the vehicle 1 from therear thereof is detected by the detection unit 402, the control unit 403widens the viewing angle of the three-dimensional image G3, as shown inFIG. 9. At that time, as shown in FIG. 9, the control unit 403 includes,in the display screen G, a three-dimensional image in which the vehicle1 and the periphery thereof are viewed from the viewpoint behind thevehicle 1, as a three-dimensional image G3. In this way, it is possibleto display the three-dimensional image G3 in which the positionalrelationship between the vehicle 1 and an object such as another vehicleapproaching the vehicle 1 from behind is easily grasped.

FIGS. 10 and 11 are views for explaining examples of display processingbird's-eye view images at the start of an automatic parking control bythe vehicle according to this embodiment. In this embodiment, in a casewhere the automatic parking control is started after the target parkingposition is set, the control unit 403 causes the display device 8 todisplay the display screen G including the bird's-eye view image G1 andthe captured image G2, as shown FIG. 10.

At that time, the control unit 403 sets the bird's-eye view image G1included in the display screen G, as a bird's-eye view image from aviewpoint where the vehicle 1 is viewed in an obliquely backwarddirection above the vehicle, as shown in FIG. 11. In this way, thedriver of the vehicle 1 can monitor the automatic parking control of thevehicle 1 using the bird's-eye view image G1 with a three-dimensionaleffect. In addition, by switching the bird's-eye view image to thebird's-eye view image G1 from the viewpoint facing the vehicle 1 in theobliquely backward direction above the vehicle, it is possible tosuppress the distortion of a three-dimensional object included in thebird's-eye view image G1.

In this embodiment, when the automatic parking control is started, thecontrol unit 403 automatically causes the display device 8 to display adisplay screen G including the bird's-eye view image G1 from theviewpoint where the vehicle 1 is viewed in an obliquely backwarddirection above the vehicle and the captured image G2, but the controlunit may switchably display the display screen G including thebird's-eye view image G1 in which the vehicle 1 is viewed from theviewpoint immediately above the vehicle or the bird's-eye view image G1in which the vehicle 1 is viewed from the viewpoint in an obliquelybackward direction above the vehicle, in response to an instructioninput from the operation input unit 10 by a user.

In addition, in this embodiment, the control unit 403 causes the displayscreen G including the captured image G2 to be displayed instead of thethree-dimensional image G3 when the automatic parking control isstarted, but the control unit may causes the display screen G includingthe three-dimensional image G3 to be displayed even when the automaticparking control is started.

For example, in case of displaying the display screen G including thebird's-eye view image G1 in which the vehicle 1 is viewed from theviewpoint immediately above the vehicle, the control unit 403 causes adisplay screen G including the bird's eye image G1 and thethree-dimensional image G3 to be displayed. On the other hand, in caseof displaying the display screen G including the bird's-eye view imageG1 in which the vehicle 1 is viewed in an obliquely backward directionabove the vehicle, the control unit 403 causes a display screen Gincluding the bird's eye image G1 and the captured image G2 to bedisplayed.

FIG. 12 is a view for explaining an example of display processing athree-dimensional image during executing the automatic parking controlby the vehicle according to this embodiment. In this embodiment, duringexecuting the automatic parking control, the control unit 403 causes thedisplay device 8 to display the display screen G including only thethree-dimensional image G3. Meanwhile, in a case where the vehicle 1 ismoving forward, the control unit 403 causes the display device 8 todisplay the display screen G including the three-dimensional image G3 inwhich the vehicle 1 and the periphery thereof are viewed from theviewpoint located behind the vehicle 1, as shown in FIG. 12.

In this way, a front side to which the vehicle 1 travels, in thethree-dimensional image G3, can be directed upward in the display screenG, and a three-dimensional image G3 in which the vehicle 1 is viewedfrom an oblique viewpoint above the vehicle can be displayed with lessdistortion. As a result, it is possible to check a status that thevehicle 1 moves forward in a process of parking the vehicle 1 at thetarget parking position by the automatic parking control, with a feelingof security using a three-dimensional image having reality.

On the other hand, in a case where the vehicle 1 is moving backwardduring executing the automatic parking control, the control unit 403causes the display device 8 to display the display screen G includingthe three-dimensional image G3 in which the vehicle 1 and the peripherythereof are viewed from the viewpoint located in front of the vehicle 1as shown in FIG. 12.

In this way, a rear side to which the vehicle 1 travels, in thethree-dimensional image G3, can be directed upward in the display screenG, and a three-dimensional image G3 in which the vehicle 1 is viewedfrom an oblique viewpoint above the vehicle can be displayed with lessdistortion. As a result, it is possible to check a status that thevehicle 1 moves backward in a process of parking the vehicle 1 at thetarget parking position by the automatic parking control, with a feelingof security using a three-dimensional image having reality.

In this embodiment, during executing the automatic parking control, thecontrol unit 403 causes the display screen G including only thethree-dimensional image G3 to be displayed, but it is not limitedthereto as long as the control unit causes the display screen Gincluding at least the three-dimensional image G3 to be displayed. Forexample, during executing the automatic parking control, the controlunit 403 can display the display screen G including the bird's-eye viewimage G1 and the three-dimensional image G3.

FIG. 13 is a view for explaining another example of display processing athree-dimensional image by the vehicle according to this embodiment. Inthis embodiment, in a case where the automatic parking control is notexecuted (for example, in a case where the target parking position isset, in a case where the automatic parking control is started, or in acase where the parking is performed manually), the control unit 403causes the display device 8 to display a display screen G including athree-dimensional image G3 obtained by rotating the entirety of theimage so that the traveling direction of the vehicle 1 in thethree-dimensional image G3 is directed upward, as shown in FIG. 13.

Specifically, the control unit 403 determines a rotation angle forrotating the entirety of the three-dimensional image G3 based on asteering angle detected by the steering angle sensor 19. For example, ina case where the steering angle sensor 19 detects a clockwise steeringangle by the steering unit 4, the control unit 403 causes the displaydevice 8 to display a display screen G including a three-dimensionalimage G3 obtained by counterclockwise rotating the entirety of the imageby the detected steering angle, as shown in FIG. 13.

In this way, the control device can display, on the display device 8,the three-dimensional image G3 in which the traveling state of thevehicle 1 is reflected without changing a viewing direction of thecandidate of the target parking position and an object in the peripherythereof in the three-dimensional image G3, and thus, it is possible toeasily grasp a positional relationship between the vehicle 1 and theobject in the periphery thereof from the three-dimensional image G3displayed on the display device 8.

FIG. 14 is a view for explaining an example of generation processing athree-dimensional image. There is a method of generating athree-dimensional image G3 including a frame W of the target parkingposition by drawing the frame W of the target parking position on athree-dimensional image G3, after generating a three-dimensional imageG3 in which a captured image obtained by imaging the periphery of thevehicle 1 using the imaging unit 15 is applied on a bowl-shapedthree-dimensional surface F, as shown in FIG. 14.

However, in this method, the frame W of the target parking position doesnot have coordinates in a height direction, and thus, a part, to bedrawn on a rising section PF of the three-dimensional surface F, in theframe W of the target parking position is hidden below thethree-dimensional surface F, as shown in FIG. 14. Therefore, in a risingsection 1400 of the three-dimensional image G3, the generatedthree-dimensional image G3 lacks a part of the frame W of the targetparking position, as shown in FIG. 14.

FIG. 15 is a view for explaining an example of generation processing athree-dimensional image by the vehicle according to this embodiment. Inthis embodiment, as shown in FIG. 15, the control unit 403 draws theframe W of the target parking position on a captured image G2 obtainedby imaging the periphery of the vehicle 1 using the imaging unit 15,before applying the captured image G2 on the three-dimensional surfaceF. Thereafter, the control unit 403 generates an image in which thecaptured image G2 in which the frame W of the target parking position isdrawn as a texture on a bowl-shaped three-dimensional surface F, as thethree-dimensional image G3.

As a result, as shown in FIG. 15, it is possible to prevent thethree-dimensional image G3 from lacking a part of the frame W of thetarget parking position due to a cause that the frame W included in thecaptured image G2 is hidden below the rising section PF of thethree-dimensional surface F. At that time, it is possible to generate athree-dimensional image G3 including the frame W of the target parkingposition without calculating three-dimensional coordinates of the frameW of the target parking position on the three-dimensional surface F orgenerating a lookup table of the three-dimensional coordinates of theframe W of the target parking position on the three-dimensional surfaceF, and thus, a display screen G including a three-dimensional image G3including the frame W of the target parking position can be easilydisplayed on the display device 8.

In this way, according to the vehicle 1 of this embodiment, in a case ofsetting the target parking position, it is possible to display, on thedisplay unit, the three-dimensional image viewed from a viewpoint wherean entirety of the candidate of the target parking position can bevisually recognized, and thus, the driver of the vehicle can easily setthe target parking position.

A vehicle periphery display device according to an aspect of thisdisclosure includes, as an example, an image acquisition unit thatacquires a captured image from an imaging unit that images a peripheryof a vehicle; and a control unit that causes a display unit to display avehicle image representing the vehicle and a three-dimensional imagerepresenting a periphery of the vehicle based on the captured image,from a viewpoint which is located on a side opposite to a candidate of atarget parking position with respect to a position of the vehicle andwhich faces a far side of the candidate of the target parking position,in a case where the target parking position for parking the vehicle isset. Therefore, as an example, in a case of setting the target parkingposition, it is possible to cause the display unit to display thethree-dimensional image viewed from a viewpoint where an entirety of thecandidate of the target parking position can be visually recognized, andthus the driver of the vehicle can easily set the target parkingposition.

In the vehicle periphery display device according to the aspect of thisdisclosure, as an example, the control unit may cause the display unitto display the three-dimensional image from a viewpoint which is locatedrearward of the vehicle in a case where the vehicle is moving forwardwhen the vehicle is parked at the target parking position by anautomatic parking control, and cause the display unit to display thethree-dimensional image from a viewpoint which is located in front ofthe vehicle in a case where the vehicle is moving backward when thevehicle is parked at the target parking position by the automaticparking control. Therefore, as an example, it is possible to check astatus that the vehicle is parked at the target parking position by theautomatic parking control, with a feeling of security using athree-dimensional image having reality.

In the vehicle periphery display device according to the aspect of thisdisclosure, as an example, the control unit may further cause thedisplay unit to display a bird's-eye view image of the vehicle and theperiphery thereof viewed from a viewpoint above the vehicle, and causethe display unit to display a display screen including the bird's-eyeview image from a viewpoint which faces the vehicle in an obliquelybackward direction and a captured image which is obtained by capturingan image in a traveling direction of the vehicle using an imaging unitmounted on the vehicle, in a case where the automatic parking control isstarted. Therefore, as an example, the driver of the vehicle can monitorthe automatic parking control of the vehicle by the bird's-eye viewimage with a three-dimensional effect.

In the vehicle periphery display device according to the aspect of thisdisclosure, as an example, the control unit may cause the display unitto display the three-dimensional image with an entirety of thethree-dimensional image rotated such that a front of the vehicle in thethree-dimensional image is directed upward. Therefore, as an example, itis possible to display, on the display unit, the three-dimensional imagein which a traveling state of the vehicle is reflected without changinga viewing direction of the candidate of the target parking position andan object in the periphery thereof in the three-dimensional image, andthus it is possible to easily grasp a positional relationship betweenthe vehicle and the object in the periphery thereof from thethree-dimensional image displayed on the display unit.

In the vehicle periphery display device according to the aspect of thisdisclosure, as an example, the control unit may determine a rotationangle for rotating the entirety of the three-dimensional image based ona steering angle of a steering unit of the vehicle, and cause thedisplay unit to display the three-dimensional image rotated according tothe determined rotation angle. Therefore, as an example, regardless of achange in the traveling direction of the vehicle, the front of thevehicle in the three-dimensional image displayed on the display unit canbe directed upward, and thus it is possible to display, on the displayunit, the three-dimensional image in which the traveling state of thevehicle is reflected without changing the viewing direction of thecandidate of the target parking position and the object in the peripherythereof in the three-dimensional image.

In the vehicle periphery display device according to the aspect of thisdisclosure, as an example, the control unit may cause the display unitto display the three-dimensional image at a viewing angle including anobject approaching the vehicle or the target parking position, in a casewhere the object is detected. Therefore, as an example, when the targetparking position is set, more information on the vehicle and peripheryof the target parking position can be provided to the driver of thevehicle.

The vehicle periphery display device according to the aspect of thisdisclosure, as an example, may further include a setting unit that sets,according to a user's operation, a viewpoint which is located on theside opposite to the candidate of the target parking position withrespect to the position of the vehicle and which faces the far side ofthe candidate of the target parking position, in which the control unitmay cause the display unit to display the three-dimensional image fromthe set viewpoint, in a case where the target parking position is set.Therefore, as an example, when the target parking position is set, thethree-dimensional image of the vehicle and the periphery thereof viewedfrom a user's favorite viewpoint is displayed without performing anoperation to change a viewpoint from which the vehicle and the peripherythereof are viewed, and thus it is possible to easily check a situationof the periphery of the target parking position from the user's favoriteviewpoint.

In the vehicle periphery display device according to the aspect of thisdisclosure, as an example, the control unit may draw a frame of thetarget parking position on a captured image which is obtained by imagingthe periphery of the vehicle using the imaging unit, and cause thedisplay unit to display an image in which the captured image in whichthe frame is drawn is mapped as a texture on a three-dimensionalsurface, as the three-dimensional image. Therefore, as an example, it ispossible to generate a three-dimensional image including the frame ofthe target parking position without calculating three-dimensionalcoordinates of the frame of the target parking position on thethree-dimensional surface or generating a lookup table, and thus thedisplay screen including the three-dimensional image including the frameof the target parking position can be easily displayed on the displayunit.

The principles, preferred embodiment and mode of operation of thepresent invention have been described in the foregoing specification.However, the invention which is intended to be protected is not to beconstrued as limited to the particular embodiments disclosed. Further,the embodiments described herein are to be regarded as illustrativerather than restrictive. Variations and changes may be made by others,and equivalents employed, without departing from the spirit of thepresent invention. Accordingly, it is expressly intended that all suchvariations, changes and equivalents which fall within the spirit andscope of the present invention as defined in the claims, be embracedthereby.

What is claimed is:
 1. A vehicle periphery display device comprising: an image acquisition unit that acquires a captured image from an imaging unit that images a periphery of a vehicle; and a control unit that causes a display unit to display a three-dimensional image representing the vehicle and a periphery of the vehicle based on the captured image, from a viewpoint which is located on a side opposite to a candidate of a target parking position with respect to a position of the vehicle and which faces a far side of the candidate of the target parking position, in a case where the target parking position for parking the vehicle is set.
 2. The vehicle periphery display device according to claim 1, wherein the control unit causes the display unit to display the three-dimensional image from a viewpoint which is located rearward of the vehicle in a case where the vehicle is moving forward when the vehicle is parked at the target parking position by an automatic parking control, and causes the display unit to display the three-dimensional image from a viewpoint which is located in front of the vehicle in a case where the vehicle is moving backward when the vehicle is parked at the target parking position by the automatic parking control.
 3. The vehicle periphery display device according to claim 1, wherein the control unit further causes the display unit to display a bird's-eye view image of the vehicle and the periphery thereof viewed from a viewpoint above the vehicle, and causes the display unit to display a display screen including the bird's-eye view image from a viewpoint which faces the vehicle in an obliquely backward direction and a captured image which is obtained by capturing an image in a traveling direction of the vehicle using an imaging unit mounted on the vehicle, in a case where the automatic parking control is started.
 4. The vehicle periphery display device according to claim 2, wherein the control unit further causes the display unit to display a bird's-eye view image of the vehicle and the periphery thereof viewed from a viewpoint above the vehicle, and causes the display unit to display a display screen including the bird's-eye view image from a viewpoint which faces the vehicle in an obliquely backward direction and a captured image which is obtained by capturing an image in a traveling direction of the vehicle using an imaging unit mounted on the vehicle, in a case where the automatic parking control is started.
 5. The vehicle periphery display device according to claim 1, wherein the control unit causes the display unit to display the three-dimensional image with an entirety of the three-dimensional image rotated such that a front of the vehicle in the three-dimensional image is directed upward.
 6. The vehicle periphery display device according to claim 5, wherein the control unit determines a rotation angle for rotating the entirety of the three-dimensional image based on a steering angle of a steering unit of the vehicle, and causes the display unit to display the three-dimensional image rotated according to the determined rotation angle.
 7. The vehicle periphery display device according to claim 1, wherein the control unit causes the display unit to display the three-dimensional image at a viewing angle including an object approaching the vehicle or the target parking position, in a case where the object is detected.
 8. The vehicle periphery display device according to claim 1, further comprising: a setting unit that sets, according to a user's operation, a viewpoint which is located on the side opposite to the candidate of the target parking position with respect to the position of the vehicle and which faces the far side of the candidate of the target parking position, wherein the control unit causes the display unit to display the three-dimensional image from the set viewpoint, in a case where the target parking position is set.
 9. The vehicle periphery display device according to claim 1, wherein the control unit draws a frame of the target parking position on a captured image which is obtained by imaging the periphery of the vehicle using the imaging unit, and causes the display unit to display an image in which the captured image in which the frame is drawn is mapped as a texture on a three-dimensional surface, as the three-dimensional image. 